Ching-Ping Chou

Bio: Ching-Ping Chou is an academic researcher from University of Washington. The author has contributed to research in topics: Pneumatic actuator & Artificial muscle. The author has an hindex of 3, co-authored 3 publications receiving 1602 citations.

Measurement and modeling of McKibben pneumatic artificial muscles

Abstract: This paper reports mechanical testing the modeling results for the McKibben artificial muscle pneumatic actuator. This device contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms.

Static and dynamic characteristics of McKibben pneumatic artificial muscles

Abstract: This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device first developed in the 1950's, contains an expanding tube surrounded by braided cords. The authors report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human muscle properties to evaluate the suitability of McKibben actuators for human muscle emulation in biologically based robot arms. >

rement and ding of McKibben Pneumatic Artificial Muscles

Abstract: This paper reports mechanical tasting and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are brieffy compared with human muscle properties to evaluate the suit- ability of McKibben actuators for human muscle emulation in biologically based robot arms.

Design, fabrication and control of soft robots

Abstract: Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modelled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates such as humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

Pneumatic Networks for Soft Robotics that Actuate Rapidly

Abstract: Soft robots actuated by infl ation of a pneumatic network (a “pneu-net”) of small channels in elastomeric materials are appealing for producing sophisticated motions with simple controls. Although current designs of pneu-nets achieve motion with large amplitudes, they do so relatively slowly (over seconds). This paper describes a new design for pneu-nets that reduces the amount of gas needed for infl ation of the pneu-net, and thus increases its speed of actuation. A simple actuator can bend from a linear to a quasicircular shape in 50 ms when pressurized at Δ P = 345 kPa. At high rates of pressurization, the path along which the actuator bends depends on this rate. When infl ated fully, the chambers of this new design experience only one-tenth the change in volume of that required for the previous design. This small change in volume requires comparably low levels of strain in the material at maximum amplitudes of actuation, and commensurately low rates of fatigue and failure. This actuator can operate over a million cycles without signifi cant degradation of performance. This design for soft robotic actuators combines high rates of actuation with high reliability of the actuator, and opens new areas of application for them.

A survey on robotic devices for upper limb rehabilitation

Abstract: The existing shortage of therapists and caregivers assisting physically disabled individuals at home is expected to increase and become serious problem in the near future The patient population needing physical rehabilitation of the upper extremity is also constantly increasing Robotic devices have the potential to address this problem as noted by the results of recent research studies However, the availability of these devices in clinical settings is limited, leaving plenty of room for improvement The purpose of this paper is to document a review of robotic devices for upper limb rehabilitation including those in developing phase in order to provide a comprehensive reference about existing solutions and facilitate the development of new and improved devices In particular the following issues are discussed: application field, target group, type of assistance, mechanical design, control strategy and clinical evaluation This paper also includes a comprehensive, tabulated comparison of technical solutions implemented in various systems

Modeling and control of McKibben artificial muscle robot actuators

Abstract: The McKibben artificial muscle is a pneumatic device characterized by its high level of functional analogy with human skeletal muscle. While maintaining a globally cylindrical shape, the McKibben muscle produces a contraction force decreasing with its contraction ratio, as does skeletal muscle. The maximum force-to-weight ratio can be surprisingly high for a limited radial dimension and for a conventional pressure range. A 50 g McKibben muscle can easily develop more than 1000 N under 5 bar pressure for an external radius varying from about 1.5 to 3 cm. Thus, robotics specialists are interested in this well-adapted artificial muscle for motorizing powerful yet compact robot arms. The basic McKibben muscle static modeling developed in the paper, which is based on the three main parameters (i.e., initial braid angle, initial muscle length, and initial muscle radius) and includes a three-parameter friction model of the thread against itself, has shown its efficiency in both isometric and isotonic contraction.

Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

Abstract: In this paper, an attempt at summarizing the evolution and the state of the art in the field of robot hands is made. In such exposition, a critical evaluation of what in the author's view are the leading ideas and emerging trends is privileged with respect to exhaustiveness of citations. The survey is focused mainly on three types of functional requirements a machine hand can be assigned in an artificial system, namely, manipulative dexterity, grasp robustness, and human operability. A basic distinction is made between hands designed for mimicking the human anatomy and physiology,and hands designed to meet restricted, practical requirements. In the latter domain, arguments are presented in favor of a -minimalistic" attitude in the design of hands for practical applications, i.e., use the least number of actuators, the simplest set of sensors, etc., for a given task. To achieve this rather obvious engineering goal is a challenge to our community. The paper illustrates some of the new sometimes difficult, problems that are brought about by building and controlling simpler, more practical devices.